CN102380875B - For the handgrip of car door - Google Patents
For the handgrip of car door Download PDFInfo
- Publication number
- CN102380875B CN102380875B CN201010565223.4A CN201010565223A CN102380875B CN 102380875 B CN102380875 B CN 102380875B CN 201010565223 A CN201010565223 A CN 201010565223A CN 102380875 B CN102380875 B CN 102380875B
- Authority
- CN
- China
- Prior art keywords
- control stick
- door
- handgrip
- framework
- disposed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53961—Means to assemble or disassemble with work-holder for assembly
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of car door handgrip that may be used on all kinds vehicle.Especially, car door handgrip of the present invention comprises: framework, is installed on one end of robot arm; Mobile device, to be placed on framework and to be configured for and move back and forth and angle regulator towards the bite of door-plate, is placed in mobile device one end and is configured to relative to framework front-rear reciprocation movement and can regulates according to the differential seat angle of door-plate; And clamping device, to be placed in all angles adjusting device and the bite be configured to for holding door.
Description
Technical field
Present invention relates in general to a kind of handgrip for car door, the present invention more specifically relate to a kind of be configured to meet car door limited cross sections differential seat angle and limited cross sections height, stand out to be to be applied to the car door handgrip of polytype door.
Background technology
In vehicle assembling process, such as, handgrip such as door handgrip 105 grade shown in Fig. 1 is installed to the end of the arm 103 of robot 101, also referred to as robot gripper.This handgrip is used for car body component to be transported to next operation from an operation, or is remained on by car body component on the appropriate location on body assembling line and welded by Welder.Such as, as shown in Figure 1, handgrip 105 can use together with the car body components such as welder 107 and door-plate 109.
Fig. 2 is the stereogram of common door handgrip, and Fig. 3 illustrates the figure using common door handgrip.As shown in the figure, conventional door handgrip comprises the framework 111 of the end being installed on robot 101 arm 103, and comprises two groups of clamping device CU1 and CU2.
But for this conventional door handgrip 105, when various vehicle part limited cross sections angle and/or highly different time, the shape matching of the limited cross sections of each car is complicated, and when must avoid interfering with existing equipment, there is comparatively complicated situation.For solving these complicated situations, be just necessary for the handgrip that often kind of new model manufacture is brand-new.
Therefore, when the handgrip being necessary for often kind of new model and providing special, due to existing handgrip must be revised or manufacture brand-new handgrip, cost of investment is therefore made to increase.Except cost increases, the structure of handgrip is common also becomes more complicated.
Above-mentioned information disclosed in this background technology part, just in order to strengthen the understanding to background of the present invention, therefore may comprise and not be formed in this state to the known prior art information of those of ordinary skill in the art.
Summary of the invention
The invention is characterized in a kind of because being applicable to all kinds vehicle the particularly advantageous handgrip for car door.
According to an embodiment of the invention, car door handgrip can comprise: framework, is installed on one end of robot arm; Mobile device, to be placed in framework and can to move back and forth towards the bite of door-plate; Angle regulator, be placed in mobile device one end or its near, can move back and forth relative to framework and can regulate according to the differential seat angle of door-plate; And clamping device, be arranged to be connected with all angles adjusting device and the bite of holding door.
In each embodiment, framework can comprise two upper frames and a underframe, and in some particular implementation, framework can be arranged to Y type.
In an illustrative embodiments, upper and lower framework can be positioned in such a way that itself and adjacent frame are put up about hexagonal angle and arranged.
According to various embodiment, mobile device can comprise the main body be placed on each framework, is wherein formed with one or more slide opening; Control stick (such as LM control stick, linear movement control stick), insert slide opening from main body one end, its one end is connected with angle regulator; And drive motor, be placed in main body, such as can be arranged on the opposite side of installation mobile device end, drive motor is connected to LM (linearmotion, linear movement) other end (i.e. one end of non-connection angle adjusting device) of control stick, and optionally move LM control stick and move back and forth.
According to various embodiment, LM control stick can comprise and to be placed on LM control stick periphery and along at least one guide rail of LM control stick length (longitudinal direction).
In various embodiments, main body can comprise and is formed at slide opening inner circumferential and the guide-track groove corresponding with guide rail.
In some embodiments, angle regulator can comprise aor brake or analog, and it has brake shaft and is connected with LM control stick end; Rotary joint device, is rotatably connected to one end of aor brake and has the clamping device be installed on it; And be placed on brake shaft to provide spring or the analog of elastic force to rotary joint device.
In various embodiments, rotary joint device can comprise mounting blocks, and clamping device is installed on its periphery; Be placed in the guide pad on mounting blocks, wherein guide pad is spaced apart from each other; Be placed in the spill spin block between guide pad, it around hinge axis pivotable, can contact with mounting blocks, and is rotatably connected to brake shaft; And retainer, it is arranged to prevent mounting blocks from rotating and exceeds predetermined angular.
In some embodiments, spill spin block can comprise circular contact surface.
In some embodiments, retainer can comprise and being placed on guide pad and the insertion projection of according to the supply of hydraulic pressure and optionally projection, and is formed in spill spin block with the groove making insertion projection optionally insert.
In certain embodiments, insertion projection and groove can be circle.
In each embodiment, clamping device can comprise: locator, and its one end is connected to the mounting blocks of rotary joint device; Clamping cylinder, comprises control stick and is hingedly coupled to locator and clamper, is hingedly coupled to one end of locator and one end of clamping cylinder control stick.
In some embodiments, locator and clamper can comprise the rotating pad of the bite for holding door respectively, and the screw of rotatable supporting rotating pad.
Be to be understood that term used herein " vehicle " or " vehicle " or other similar term comprise, such as comprise the motor vehicles of passenger car of Sport Utility Vehicles (SUV), bus, truck, multiple commerial vehicle, comprise the water carrier of various ship and ship, ROV etc., and comprise hybrid electric vehicle, electric vehicle, plug-in hybrid electric vehicles, hydrogen-powered vehicle and other optional fuel vehicle (fuel such as obtained from the resource except oil).With reference to described herein, hybrid electric vehicle is the vehicle with two or more power sources, and such as existing petrol power has again electrodynamic vehicle.
Accompanying drawing explanation
Fig. 1 is the diagram that the door welding sequence using conventional door handgrip is shown;
Fig. 2 is the stereogram of common door handgrip;
Fig. 3 illustrates the diagram using conventional door handgrip;
Fig. 4 illustrates according to one exemplary embodiment for the diagram of the bite of the handgrip of car door;
Fig. 5 illustrates according to one exemplary embodiment for the stereogram of the handgrip of car door;
Fig. 6 is the enlarged drawing in " A " portion shown in Fig. 5;
Fig. 7 is the cross-sectional view of X-X line in Fig. 6.
Fig. 8 is the enlarged drawing in " B " portion in Fig. 5;
Fig. 9 illustrates according to one exemplary embodiment for the exploded perspective view of the rotary joint device of car door;
Figure 10 illustrates according to one exemplary embodiment for the diagram of the rotary joint device of car door;
Figure 11 is the enlarged drawing in " C " portion in Fig. 5.
< description of reference numerals >
1... door-plate 110... framework
120... mobile device 121... main body
125...LM control stick 129... drive motor
130... angle regulator 131... aor brake
135... rotary joint device 137... mounting blocks
139... guide pad 141... spill spin block
143... hinge axis 145... retainer
146... projection 147... groove is inserted
149... spring 150... clamping device
151... locator 153... clamper
155... screw 157... rotating pad
CY... cylinder R... control stick is clamped
Detailed description of the invention
Hereafter describe illustrative embodiments of the present invention with reference to the accompanying drawings in detail.
For fully understanding essence of the present invention and re-set target, will be described with reference to the accompanying drawings the present invention, wherein in all of the figs, identical Reference numeral represents identical parts.
For the object explained and illustrate, concrete illustrative embodiments of the present invention is described.This explanation is not intended to the present invention to be expanded or be limited to disclosed in form definite, clearly, also can make many modifications and variations according to above-mentioned instruction.
With reference to accompanying drawing, car door handgrip 100 according to one exemplary embodiment comprises: be installed on the framework 110 of robot arm one end, the mobile device 120 be positioned on framework 110, be positioned at the angle regulator 130 of mobile device one end and be positioned at the clamping device 150 of each angle regulator 130.Especially, mobile device 120 is configured to move back and forth (see Fig. 4) towards bite P1, P2 and P3 of door-plate 1.In addition, angle regulator 130 is arranged to move back and forth relative to framework 110, and can regulate according to the differential seat angle of door-plate 1.In addition, be arranged to can each bite P1, P2 and P3 of holding door 1 for clamping device 150.
Such as car body component such as door-plate 1 grade is transported to subsequent processing from an operation by the handgrip 100 according to exemplary embodiment of the invention, or is fixed on by car body component on body assembling line and welds for Welder.
According to the handgrip 100 of exemplary embodiment of the invention, as shown in Figure 4, the door-plate 1 being temporarily assembled into inner panel 3 and outside plate 5 is transported to subsequent processing from an operation, or car body component is fixed on body assembling line for Welder's welding or crimping.
Such as, as shown in Figure 4, provide two bites as upper bite P1 and P2, provide a bite as lower bite P3.
As shown in Figure 5, according to the handgrip 100 of exemplary embodiment of the invention, the rear portion by framework 110 is connected to an arm (not shown) of robot.There is no particular restriction for the connected mode of framework 110 and robot arm, can connect according to any existing setting.
As illustrated in this embodiment, handgrip 100 comprises framework 110, mobile device 120, angle regulator 130 and clamping device 150.Hereinafter will further describe these parts in conjunction with illustrative embodiments of the present invention.
According to an embodiment, such as shown in Figure 5, it is installed the framework 110 of other parts (as mobile device, angle regulator, clamping device), comprise two upper frames 111 and a underframe 113.These frameworks are preferably arranged at a predetermined angle mutually.Such as, in a preferred embodiment, predetermined angular is about 120 °.In an illustrative embodiments, as shown in Figure 5, framework 110 is " Y " shape.The center at " Y " shape rear portion can be connected to an arm (not shown) of robot.
As shown in the figure, mobile device 120 is disposed on framework 110, and is configured to can move back and forth between bite P1, P2 and P3 of door-plate 1 and the center of framework 110.
As shown in Figure 6, mobile device 120 can comprise main body 121, LM control stick 125 and drive motor 129.
Main body 121 is disposed on each upper and lower framework 111 and 113, and as shown in Figure 7, wherein can have slide opening (slidehole) 123.LM control stick 125 slides from one end of main body 121 and inserts slide opening 123, and one end of LM control stick 125 is connected to angle regulator 130.
As shown in the figure, drive motor 129 is disposed in the other end of the main body 121 be connected with LM control stick 125 other end, and selectively moves LM control stick 125 to move back and forth.
As shown in Figure 7, in some embodiments, LM control stick 125 length direction comprised along LM control stick 125 is formed at least one guide rail 127 of LM control stick 125 periphery.In addition, main body 121 comprises and is formed in the slide opening 123 inner circumferential guide-track groove 124 corresponding with guide rail 127.
In the illustrative embodiments shown in Fig. 7, four guide rails 127 are formed in the periphery of LM control stick 125, and four guide-track grooves 124 are formed in the inner circumferential of slide opening 123.But although have four guide rails 125 and guide-track groove 124 in this illustrative embodiments, the present invention is not limited thereto.
According to the present invention, guide rail 127 and guide-track groove 124 can be set, to pass through to prevent LM control stick 125 from rotating when drive motor 129 makes LM control stick 125 movable in main body 121, prevent angle regulator 130 from rotating.
Therefore, although the angle of the limited cross sections of the door-plate of often kind of vehicle (bite) and/or highly difference, and/or the shape of the limited cross sections of often kind of vehicle may be more complicated, but adjust mobile device 120 of the present invention by mobile LM control stick 125.
In this illustrative embodiments, angle regulator 130 is arranged on one end of each mobile device 120, and is configured to move along the longitudinal direction relative to framework 110.Angle regulator 130 be configured in case corresponding with the differential seat angle of the limited cross sections (bite) of door-plate come adjusting angle.
Such as, in angle regulator 130 as shown in Figure 8, aor brake 131, rotary joint device 135 and spring 149 is provided with.Especially, aor brake 131 comprises brake shaft 133, and is connected to one end of LM control stick 125.Aor brake 133 moves forward and backward brake shaft 133 to regulate the distance between door-plate 1 and clamping device 150.As shown in the figure, rotary joint device 135 is connected to one end of brake shaft 133, and clamping device 150 is installed on the side of rotary joint device 135.
As shown in Figure 9, rotary joint device 135 can comprise mounting blocks 137, guide pad 139, spill spin block 141 and retainer 145.Mounting blocks 137 can have any suitable shape.Such as, as shown in the figure, mounting blocks 137 can be cylindrical, and clamping device 150 can be installed on the periphery of mounting blocks 137.Guide pad 139 is arranged to mounting blocks 137, and spaced.There is no particular restriction for the structure of guide pad 139 and shape, and in certain embodiments, such as shown in Figure 9, guide pad 139 can have the shape corresponding with the semi-cylindrical of mounting blocks 137.Certainly also can using mounting blocks 137 and guide pad 139 shape any, other is appropriately combined, can be determined easily by those skilled in the art.
As further illustrated in figure 9, spill spin block 141 is disposed between guide pad 139, and can around hinge axis 143 pivotable.Especially, as shown in the figure, spill spin block 141 contacts mounting blocks 137, and is rotatably connected to brake shaft 133 by the spill spin block hole 148 etc. be formed in spill spin block 141.Thus, the differential seat angle between clamping device 150 and door-plate 1 suitably adjusts by optionally rotating mounting blocks 137.
In some embodiments, preferably, the contact site 142 of spill spin block 141 of contact mounting blocks 137 be circle, and mounting blocks 137 rotates along the contact site 142 of spill spin block 141.
So, each setting angle of clamping device 150 is regulated by all angles of the limited cross sections of the corresponding door-plate 1 of rotary joint device 135.
As shown in Figure 9, retainer 145 can be arranged, and be disposed for preventing mounting blocks 137 rotation from exceeding predetermined angular.As shown in the figure, retainer 145 can comprise insertion projection 146 and groove 147.Suitably can arrange and insert projection 146, such as, be arranged in the side of guide pad 139, and optionally give prominence to from guide pad 139 according to hydraulic pressure supply or other device.The groove 147 be formed in spill spin block 141 is configured to make insertion projection 146 optionally insert, and therefore can adjust the anglec of rotation of mounting blocks 137.In some embodiments, insertion projection 146 and groove 147 are preferably formed as the circle meeting spill spin block 141 rotation.
According to an embodiment of the invention, when needs carry out angular adjustment to clamping device 150, in rotary joint device 135, release is supplied to the hydraulic pressure of guide pad 139, and insertion projection 146 is inserted in guide pad 139, to discharge the connection (as shown in the S1 in Figure 10) between spill spin block 141 and guide pad 139.As shown in the S2 in Figure 10, after angular adjustment between spill spin block 141 and mounting blocks 137 completes, hydraulic pressure is provided to guide pad 137, inserts projection 146 to make it outstanding to press, thus insertion projection 146 is inserted in groove 147, thus locking mounting blocks 137.
In addition, spring 149 is disposed on the brake shaft 133 of aor brake 131, to provide elastic force to rotary joint device 135.Spring 149 promotes rotary joint device 135, to provide elastic force to the mounting blocks 137 fixed by retainer 145, makes it stable when aor brake 131 does not run.
Clamping device 150 is installed on all angles adjusting device 130, with bite P1, P2 and P3 of holding door 1.As shown in figure 11, the locator 151 of clamping device 150 can be mounted to the mounting blocks 137 of the rotary joint device 135 of framework 110 front portion.Clamping cylinder (clampingcylinder) CY comprising control stick R can be hingedly coupled to locator 151 further.Clamper 153 is hingedly coupled to locator 151, and one end of clamper 153 is hingedly coupled to one end of the control stick R of clamping cylinder CY.Therefore, clamper 153 can according to the tie point pivotable of the operation of clamping cylinder CY around locator 151.As further shown in figure 11, locator 151 and clamper 153 comprise for the rotating pad 157 of bite P1, P2 and P3 of holding door 1 and rotationally supported rotating pad 157 to solve the screw 155 of limited cross sections differential seat angle.
During operation handgrip 100, using drive motor 129 or each mobile device 120 to move each LM control stick 125, that clamping device 150 is arranged to is corresponding with two of door-plate 1 upper bite P1, a P2 and lower bite P3.
Afterwards, each aor brake 131 of angle regulator 130 moves around brake shaft 133 on demand, to regulate the distance between door-plate 1 and clamping device 150.
After the retainer 145 of release rotary joint device 135 is with the angle position regulating clamping device 150, then hydraulic pressure is supplied to retainer 145, with the mounting blocks 137 of fixing rotary joint device 135.
Then operate each clamping cylinder CY of clamping device 150, match to make rotating pad 157 and bite P1, P2 and P3.Bite P1, P2 and P3 of each clamping cylinder CY and locator 151 holding door 1 afterwards.
Thus bite P1, P2 and P3 of door-plate 1 are clamped by each clamping device 150 of handgrip 100.
As mentioned above, car door handgrip 100 according to the present invention can be configured to the position by regulating mobile device 120 and angle regulator 130 to regulate clamping device 150, so that corresponding with the height of the limited cross sections (bite P1, P2 and P3) of car door, stand out, thus be applied to various types of door.
The position by regulating rotating pad 157 also can be configured to according to car door handgrip 100 of the present invention, corresponding with the differential seat angle of limited cross sections (bite P1, P2 and P3).
Therefore, car door handgrip 100 according to the present invention can be configured to corresponding with the height of the differential seat angle of car door limited cross sections and limited cross sections, stand out, thus can be applied to various types of door.Especially, handgrip 100 of the present invention is applied to various types of door by regulating mobile device 120, angle regulator 130 and mobile device 120.Therefore, the initial cost manufacturing all kinds vehicle can be reduced, and simplify whole system.
Although describe the present invention in conjunction with the current exemplary embodiment being considered to practicality above, but should be appreciated that, the present invention is not limited to the disclosed embodiments, but intention contains and is included in various modification in spirit and category that the claims in the present invention limit and equivalent structure.
Claims (12)
1., for a handgrip for car door, comprising:
Be installed on the framework of robot arm one end;
Mobile device, is arranged on said frame and is configured to move back and forth towards the bite of door-plate;
Angle regulator, is disposed in one end of described mobile device and is configured to relative to described framework front-rear reciprocation movement, and can be conditioned according to the differential seat angle of door-plate; And
Clamping device, is disposed on angle regulator described in each, and is configured to each bite of holding door,
Wherein said mobile device comprises:
Main body, to be disposed on each framework and to be formed with slide opening in described main body;
Linear movement control stick, inserts described slide opening from one end of described main body, and described linear movement control stick has the first end be connected with described angle regulator; And
Drive motor, is disposed in one end of described main body, and described drive motor is connected with the second end of described linear movement control stick, and is configured to the described linear movement control stick that optionally moves around.
2. handgrip according to claim 1, wherein said framework comprises two upper frames and a underframe, and wherein said framework is arranged to " Y " shape.
3. handgrip according to claim 2, wherein said framework is arranged with about 120 ° of angles.
4. handgrip according to claim 1, the wherein said linear movement control stick length direction comprised along described linear movement control stick is formed at least one guide rail of described linear movement control stick periphery.
5. handgrip according to claim 4, wherein said main body comprises at least one guide-track groove being formed at described slide opening inner circumferential, and at least one guide-track groove wherein said is corresponding with at least one guide rail described.
6. handgrip according to claim 1, wherein said angle regulator comprises:
Have the aor brake of brake shaft, described aor brake is connected to the end of described linear movement control stick;
Rotary joint device, is rotatably connected to one end of described aor brake and is provided with clamping device; And
Spring, is disposed on described brake shaft, for providing elastic force to described rotary joint device.
7. handgrip according to claim 6, wherein said rotary joint device comprises:
Mounting blocks, described clamping device is installed on its periphery;
To be disposed on described mounting blocks and guide pad spaced apart from each other;
Be disposed in the spill spin block between described guide pad, described spill spin block around hinge axis pivotable, can contact with described mounting blocks, and is rotatably connected to described brake shaft; And
Retainer, is arranged to prevent described mounting blocks from rotating and exceeds predetermined angular.
8. handgrip according to claim 7, wherein said spill spin block comprises circular contact surface.
9. handgrip according to claim 7, wherein said retainer comprises:
Insert projection, be disposed on described guide pad, and optionally given prominence to by sap pressure supply; And
Be formed in the groove in described spill spin block, wherein said insertion projection is optionally inserted in described groove.
10. handgrip according to claim 9, wherein said insertion projection and described groove are formed circle.
11. handgrips according to claim 7, wherein said clamping device comprises:
Locator, its one end is connected to the mounting blocks of described rotary joint device;
Clamping cylinder, comprises the control stick being hingedly coupled to described locator; And
Clamper, is hingedly coupled to one end of one end of described locator and the control stick of described clamping cylinder.
12. handgrips according to claim 11, wherein said locator and described clamper comprise respectively:
Clamp the rotating pad of the described bite of described door-plate; And
The screw of rotationally supported described rotating pad.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020100087111A KR101172308B1 (en) | 2010-09-06 | 2010-09-06 | Gripper for door of vehicle |
| KR10-2010-0087111 | 2010-09-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102380875A CN102380875A (en) | 2012-03-21 |
| CN102380875B true CN102380875B (en) | 2015-11-25 |
Family
ID=45595517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010565223.4A Expired - Fee Related CN102380875B (en) | 2010-09-06 | 2010-11-30 | For the handgrip of car door |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8485575B2 (en) |
| KR (1) | KR101172308B1 (en) |
| CN (1) | CN102380875B (en) |
| DE (1) | DE102010062048A1 (en) |
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| KR101427975B1 (en) * | 2013-07-11 | 2014-08-07 | 현대자동차주식회사 | Device for separating door of multi vehicle model |
| US9610675B2 (en) * | 2013-11-06 | 2017-04-04 | Nu-Way Industries, Inc | Clamp system for welding applications |
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| JP5956620B1 (en) * | 2015-01-23 | 2016-07-27 | ファナック株式会社 | Transport system and transport method |
| CN105836613B (en) * | 2016-06-03 | 2017-06-06 | 中国工程物理研究院流体物理研究所 | A kind of work piece hoisting device |
| CN106956263B (en) * | 2017-04-28 | 2023-05-16 | 广州瑞松北斗汽车装备有限公司 | Automobile part vision guiding gripper |
| CN107322619B (en) * | 2017-07-28 | 2021-06-04 | 安徽工程大学 | High-precision grabbing mechanism of robot |
| US10105853B1 (en) * | 2017-10-05 | 2018-10-23 | GM Global Technology Operations LLC | Flexible robot end-effector for assembling door closure |
| KR102317265B1 (en) | 2018-11-02 | 2021-10-22 | 주식회사 엘지에너지솔루션 | Robot Having Robot Arm |
| EP4015163B1 (en) * | 2020-12-17 | 2024-02-07 | C.R.F. Società Consortile per Azioni | Gripping tool |
| CN112710270A (en) * | 2020-12-24 | 2021-04-27 | 一汽奔腾轿车有限公司 | Flexible tool for vehicle door part environment experiment |
| CN113664768B (en) * | 2021-09-10 | 2024-01-26 | 上汽通用汽车有限公司 | Car door installation equipment |
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| KR20090053078A (en) * | 2007-11-22 | 2009-05-27 | 현대자동차주식회사 | Gripper for transfering door panel |
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2010
- 2010-09-06 KR KR1020100087111A patent/KR101172308B1/en active IP Right Grant
- 2010-11-26 DE DE102010062048A patent/DE102010062048A1/en not_active Withdrawn
- 2010-11-30 CN CN201010565223.4A patent/CN102380875B/en not_active Expired - Fee Related
- 2010-12-03 US US12/959,747 patent/US8485575B2/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| US20120056440A1 (en) | 2012-03-08 |
| CN102380875A (en) | 2012-03-21 |
| KR20120024282A (en) | 2012-03-14 |
| KR101172308B1 (en) | 2012-08-07 |
| DE102010062048A1 (en) | 2012-03-08 |
| US8485575B2 (en) | 2013-07-16 |
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